Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
robotis_op::OnlineWalkingModule Class Reference

#include <online_walking_module.h>

Inheritance diagram for robotis_op::OnlineWalkingModule:
Inheritance graph
[legend]

Public Member Functions

bool definePreviewMatrix ()
 
void footStep2DCallback (const op3_online_walking_module_msgs::Step2DArray &msg)
 
void footStepCommandCallback (const op3_online_walking_module_msgs::FootStepCommand &msg)
 
bool getJointPoseCallback (op3_online_walking_module_msgs::GetJointPose::Request &req, op3_online_walking_module_msgs::GetJointPose::Response &res)
 
bool getKinematicsPoseCallback (op3_online_walking_module_msgs::GetKinematicsPose::Request &req, op3_online_walking_module_msgs::GetKinematicsPose::Response &res)
 
bool getPreviewMatrix (op3_online_walking_module_msgs::PreviewRequest msg)
 
void goalJointPoseCallback (const op3_online_walking_module_msgs::JointPose &msg)
 
void goalKinematicsPoseCallback (const op3_online_walking_module_msgs::KinematicsPose &msg)
 
void imuDataCallback (const sensor_msgs::Imu::ConstPtr &msg)
 
void initialize (const int control_cycle_msec, robotis_framework::Robot *robot)
 
bool isRunning ()
 
void leftFootForceTorqueOutputCallback (const geometry_msgs::WrenchStamped::ConstPtr &msg)
 
 OnlineWalkingModule ()
 
void parseBalanceGainData (const std::string &path)
 
void parseJointFeedbackGainData (const std::string &path)
 
void parseJointFeedforwardGainData (const std::string &path)
 
void process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)
 
void publishStatusMsg (unsigned int type, std::string msg)
 
void rightFootForceTorqueOutputCallback (const geometry_msgs::WrenchStamped::ConstPtr &msg)
 
void setBodyOffsetCallback (const geometry_msgs::Pose::ConstPtr &msg)
 
void setFootDistanceCallback (const std_msgs::Float64::ConstPtr &msg)
 
void setResetBodyCallback (const std_msgs::Bool::ConstPtr &msg)
 
void setWholebodyBalanceMsgCallback (const std_msgs::String::ConstPtr &msg)
 
void stop ()
 
void walkingParamCallback (const op3_online_walking_module_msgs::WalkingParam &msg)
 
virtual ~OnlineWalkingModule ()
 
- Public Member Functions inherited from robotis_framework::MotionModule
ControlMode getControlMode ()
 
bool getModuleEnable ()
 
std::string getModuleName ()
 
virtual void onModuleDisable ()
 
virtual void onModuleEnable ()
 
void setModuleEnable (bool enable)
 
virtual ~MotionModule ()
 

Public Attributes

OP3Kinematics * op3_kdl_
 
WalkingControl * walking_control_
 
WholebodyControl * wholebody_control_
 
- Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * > result_
 

Private Member Functions

void calcBalanceControl ()
 
void calcJointControl ()
 
void calcOffsetControl ()
 
void calcRobotPose ()
 
void calcWalkingControl ()
 
void calcWholebodyControl ()
 
void initBalanceControl ()
 
void initFeedforwardControl ()
 
void initJointControl ()
 
void initOffsetControl ()
 
void initWalkingControl ()
 
void initWholebodyControl ()
 
void queueThread ()
 
void resetBodyPose ()
 
void sensoryFeedback (const double &rlGyroErr, const double &fbGyroErr, double *balance_angle)
 
bool setBalanceControl ()
 
void setBalanceControlGain ()
 
void setFeedbackControl ()
 
void setFeedforwardControl ()
 
void setTargetForceTorque ()
 

Private Attributes

double balance_ankle_pitch_gain_
 
double balance_ankle_roll_gain_
 
BalanceControlUsingPDController balance_control_
 
bool balance_control_initialize_
 
double balance_hip_roll_gain_
 
double balance_knee_gain_
 
double balance_l_foot_force_x_
 
double balance_l_foot_force_y_
 
double balance_l_foot_force_z_
 
double balance_l_foot_torque_x_
 
double balance_l_foot_torque_y_
 
double balance_l_foot_torque_z_
 
double balance_r_foot_force_x_
 
double balance_r_foot_force_y_
 
double balance_r_foot_force_z_
 
double balance_r_foot_torque_x_
 
double balance_r_foot_torque_y_
 
double balance_r_foot_torque_z_
 
int balance_size_
 
int balance_step_
 
robotis_framework::MinimumJerk * balance_tra_
 
BALANCE_TYPE balance_type_
 
bool body_offset_initialize_
 
int body_offset_size_
 
int body_offset_step_
 
robotis_framework::MinimumJerk * body_offset_tra_
 
double control_cycle_sec_
 
CONTROL_TYPE control_type_
 
std::vector< double_t > curr_joint_accel_
 
std::vector< double_t > curr_joint_pos_
 
std::vector< double_t > curr_joint_vel_
 
std::vector< double_t > des_balance_gain_ratio_
 
std::vector< double_t > des_body_accel_
 
std::vector< double_t > des_body_offset_
 
std::vector< double_t > des_body_pos_
 
std::vector< double_t > des_body_Q_
 
std::vector< double_t > des_body_vel_
 
std::vector< double_t > des_joint_accel_
 
std::vector< double_t > des_joint_feedback_
 
std::vector< double_t > des_joint_feedforward_
 
std::vector< double_t > des_joint_pos_
 
std::vector< double_t > des_joint_pos_to_robot_
 
std::vector< double_t > des_joint_vel_
 
std::vector< double_t > des_l_arm_accel_
 
std::vector< double_t > des_l_arm_pos_
 
std::vector< double_t > des_l_arm_Q_
 
std::vector< double_t > des_l_arm_vel_
 
std::vector< double_t > des_l_leg_accel_
 
std::vector< double_t > des_l_leg_pos_
 
std::vector< double_t > des_l_leg_Q_
 
std::vector< double_t > des_l_leg_vel_
 
std::vector< double_t > des_r_arm_accel_
 
std::vector< double_t > des_r_arm_pos_
 
std::vector< double_t > des_r_arm_Q_
 
std::vector< double_t > des_r_arm_vel_
 
std::vector< double_t > des_r_leg_accel_
 
std::vector< double_t > des_r_leg_pos_
 
std::vector< double_t > des_r_leg_Q_
 
std::vector< double_t > des_r_leg_vel_
 
robotis_framework::MinimumJerkViaPoint * feed_forward_tra_
 
double foot_distance_
 
double foot_pitch_angle_d_gain_
 
double foot_pitch_angle_p_gain_
 
double foot_pitch_gyro_d_gain_
 
double foot_pitch_gyro_p_gain_
 
double foot_pitch_torque_cut_off_frequency_
 
double foot_pitch_torque_d_gain_
 
double foot_pitch_torque_p_gain_
 
double foot_roll_angle_d_gain_
 
double foot_roll_angle_p_gain_
 
double foot_roll_gyro_d_gain_
 
double foot_roll_gyro_p_gain_
 
double foot_roll_torque_cut_off_frequency_
 
double foot_roll_torque_d_gain_
 
double foot_roll_torque_p_gain_
 
op3_online_walking_module_msgs::Step2DArray foot_step_2d_
 
op3_online_walking_module_msgs::FootStepCommand foot_step_command_
 
double foot_x_force_cut_off_frequency_
 
double foot_x_force_d_gain_
 
double foot_x_force_p_gain_
 
double foot_y_force_cut_off_frequency_
 
double foot_y_force_d_gain_
 
double foot_y_force_p_gain_
 
double foot_z_force_cut_off_frequency_
 
double foot_z_force_d_gain_
 
double foot_z_force_p_gain_
 
Eigen::MatrixXd g_to_l_leg_
 
Eigen::MatrixXd g_to_r_leg_
 
std::vector< double_t > goal_balance_gain_ratio_
 
std::vector< double_t > goal_body_offset_
 
bool goal_initialize_
 
std::vector< double_t > goal_joint_accel_
 
std::vector< double_t > goal_joint_pos_
 
ros::Publisher goal_joint_state_pub_
 
std::vector< double_t > goal_joint_vel_
 
sensor_msgs::Imu imu_data_msg_
 
boost::mutex imu_data_mutex_lock_
 
bool is_balancing_
 
bool is_foot_step_2d_
 
bool is_moving_
 
bool is_offset_updating_
 
bool joint_control_initialize_
 
BalancePDController joint_feedback_ [12]
 
std::vector< double_t > joint_feedforward_gain_
 
std::vector< std::string > joint_name_
 
std::map< std::string, int > joint_name_to_id_
 
robotis_framework::MinimumJerk * joint_tra_
 
geometry_msgs::Wrench l_foot_ft_data_msg_
 
int mov_size_
 
int mov_step_
 
double mov_time_
 
std_msgs::String movement_done_msg_
 
ros::Publisher movement_done_pub_
 
size_t number_of_joints_
 
ros::Publisher pelvis_pose_pub_
 
double pitch_angle_cut_off_frequency_
 
double pitch_gyro_cut_off_frequency_
 
op3_online_walking_module_msgs::PreviewRequest preview_request_
 
op3_online_walking_module_msgs::PreviewResponse preview_response_
 
std::vector< double_t > preview_response_K_
 
int preview_response_K_col_
 
int preview_response_K_row_
 
std::vector< double_t > preview_response_P_
 
int preview_response_P_col_
 
int preview_response_P_row_
 
boost::mutex queue_mutex_
 
boost::thread queue_thread_
 
geometry_msgs::Wrench r_foot_ft_data_msg_
 
double roll_angle_cut_off_frequency_
 
double roll_gyro_cut_off_frequency_
 
ros::Publisher status_msg_pub_
 
double total_mass_
 
bool walking_initialize_
 
int walking_leg_
 
op3_online_walking_module_msgs::WalkingParam walking_param_
 
int walking_phase_
 
int walking_size_
 
int walking_step_
 
geometry_msgs::Pose wholebody_goal_msg_
 
bool wholebody_initialize_
 
std::string wholegbody_control_group_
 
std::vector< double_t > x_lipm_
 
std::vector< double_t > y_lipm_
 

Additional Inherited Members

- Static Public Member Functions inherited from robotis_framework::Singleton< OnlineWalkingModule >
static void destroyInstance ()
 
static T * getInstance ()
 
- Protected Member Functions inherited from robotis_framework::Singleton< OnlineWalkingModule >
Singleton & operator= (Singleton const &)
 
 Singleton (Singleton const &)
 
 Singleton ()
 
- Protected Attributes inherited from robotis_framework::MotionModule
ControlMode control_mode_
 
bool enable_
 
std::string module_name_
 

Detailed Description

Definition at line 81 of file online_walking_module.h.

Constructor & Destructor Documentation

OnlineWalkingModule::OnlineWalkingModule ( )

Definition at line 23 of file online_walking_module.cpp.

OnlineWalkingModule::~OnlineWalkingModule ( )
virtual

Definition at line 162 of file online_walking_module.cpp.

Member Function Documentation

void OnlineWalkingModule::calcBalanceControl ( )
private

Definition at line 451 of file online_walking_module.cpp.

void OnlineWalkingModule::calcJointControl ( )
private

Definition at line 633 of file online_walking_module.cpp.

void OnlineWalkingModule::calcOffsetControl ( )
private

Definition at line 726 of file online_walking_module.cpp.

void OnlineWalkingModule::calcRobotPose ( )
private

Definition at line 1182 of file online_walking_module.cpp.

void OnlineWalkingModule::calcWalkingControl ( )
private

Definition at line 1089 of file online_walking_module.cpp.

void OnlineWalkingModule::calcWholebodyControl ( )
private

Definition at line 820 of file online_walking_module.cpp.

bool OnlineWalkingModule::definePreviewMatrix ( )

Definition at line 1953 of file online_walking_module.cpp.

void OnlineWalkingModule::footStep2DCallback ( const op3_online_walking_module_msgs::Step2DArray &  msg)

Definition at line 850 of file online_walking_module.cpp.

void OnlineWalkingModule::footStepCommandCallback ( const op3_online_walking_module_msgs::FootStepCommand &  msg)

Definition at line 986 of file online_walking_module.cpp.

bool OnlineWalkingModule::getJointPoseCallback ( op3_online_walking_module_msgs::GetJointPose::Request &  req,
op3_online_walking_module_msgs::GetJointPose::Response &  res 
)

Definition at line 1852 of file online_walking_module.cpp.

bool OnlineWalkingModule::getKinematicsPoseCallback ( op3_online_walking_module_msgs::GetKinematicsPose::Request &  req,
op3_online_walking_module_msgs::GetKinematicsPose::Response &  res 
)

Definition at line 1864 of file online_walking_module.cpp.

bool robotis_op::OnlineWalkingModule::getPreviewMatrix ( op3_online_walking_module_msgs::PreviewRequest  msg)
void OnlineWalkingModule::goalJointPoseCallback ( const op3_online_walking_module_msgs::JointPose &  msg)

Definition at line 581 of file online_walking_module.cpp.

void OnlineWalkingModule::goalKinematicsPoseCallback ( const op3_online_walking_module_msgs::KinematicsPose &  msg)

Definition at line 753 of file online_walking_module.cpp.

void OnlineWalkingModule::imuDataCallback ( const sensor_msgs::Imu::ConstPtr &  msg)

Definition at line 477 of file online_walking_module.cpp.

void OnlineWalkingModule::initBalanceControl ( )
private

Definition at line 421 of file online_walking_module.cpp.

void OnlineWalkingModule::initFeedforwardControl ( )
private

Definition at line 1160 of file online_walking_module.cpp.

void OnlineWalkingModule::initialize ( const int  control_cycle_msec,
robotis_framework::Robot *  robot 
)
virtual

Implements robotis_framework::MotionModule.

Definition at line 167 of file online_walking_module.cpp.

void OnlineWalkingModule::initJointControl ( )
private

Definition at line 607 of file online_walking_module.cpp.

void OnlineWalkingModule::initOffsetControl ( )
private

Definition at line 696 of file online_walking_module.cpp.

void OnlineWalkingModule::initWalkingControl ( )
private

Definition at line 1018 of file online_walking_module.cpp.

void OnlineWalkingModule::initWholebodyControl ( )
private

Definition at line 785 of file online_walking_module.cpp.

bool OnlineWalkingModule::isRunning ( )
virtual

Implements robotis_framework::MotionModule.

Definition at line 1836 of file online_walking_module.cpp.

void OnlineWalkingModule::leftFootForceTorqueOutputCallback ( const geometry_msgs::WrenchStamped::ConstPtr &  msg)

Definition at line 489 of file online_walking_module.cpp.

void OnlineWalkingModule::parseBalanceGainData ( const std::string &  path)

Definition at line 270 of file online_walking_module.cpp.

void OnlineWalkingModule::parseJointFeedbackGainData ( const std::string &  path)

Definition at line 327 of file online_walking_module.cpp.

void OnlineWalkingModule::parseJointFeedforwardGainData ( const std::string &  path)

Definition at line 368 of file online_walking_module.cpp.

void OnlineWalkingModule::process ( std::map< std::string, robotis_framework::Dynamixel * >  dxls,
std::map< std::string, double >  sensors 
)
virtual

Implements robotis_framework::MotionModule.

Definition at line 1682 of file online_walking_module.cpp.

void OnlineWalkingModule::publishStatusMsg ( unsigned int  type,
std::string  msg 
)

Definition at line 1841 of file online_walking_module.cpp.

void OnlineWalkingModule::queueThread ( )
private

Definition at line 184 of file online_walking_module.cpp.

void OnlineWalkingModule::resetBodyPose ( )
private

Definition at line 230 of file online_walking_module.cpp.

void OnlineWalkingModule::rightFootForceTorqueOutputCallback ( const geometry_msgs::WrenchStamped::ConstPtr &  msg)

Definition at line 527 of file online_walking_module.cpp.

void OnlineWalkingModule::sensoryFeedback ( const double &  rlGyroErr,
const double &  fbGyroErr,
double *  balance_angle 
)
private

Definition at line 1652 of file online_walking_module.cpp.

bool OnlineWalkingModule::setBalanceControl ( )
private

Definition at line 1350 of file online_walking_module.cpp.

void OnlineWalkingModule::setBalanceControlGain ( )
private

Definition at line 1293 of file online_walking_module.cpp.

void OnlineWalkingModule::setBodyOffsetCallback ( const geometry_msgs::Pose::ConstPtr &  msg)

Definition at line 662 of file online_walking_module.cpp.

void OnlineWalkingModule::setFeedbackControl ( )
private

Definition at line 1590 of file online_walking_module.cpp.

void OnlineWalkingModule::setFeedforwardControl ( )
private

Definition at line 1603 of file online_walking_module.cpp.

void OnlineWalkingModule::setFootDistanceCallback ( const std_msgs::Float64::ConstPtr &  msg)

Definition at line 686 of file online_walking_module.cpp.

void OnlineWalkingModule::setResetBodyCallback ( const std_msgs::Bool::ConstPtr &  msg)

Definition at line 564 of file online_walking_module.cpp.

void OnlineWalkingModule::setTargetForceTorque ( )
private

Definition at line 1253 of file online_walking_module.cpp.

void OnlineWalkingModule::setWholebodyBalanceMsgCallback ( const std_msgs::String::ConstPtr &  msg)

Definition at line 397 of file online_walking_module.cpp.

void OnlineWalkingModule::stop ( )
virtual

Implements robotis_framework::MotionModule.

Definition at line 1812 of file online_walking_module.cpp.

void OnlineWalkingModule::walkingParamCallback ( const op3_online_walking_module_msgs::WalkingParam &  msg)

Definition at line 576 of file online_walking_module.cpp.

Member Data Documentation

double robotis_op::OnlineWalkingModule::balance_ankle_pitch_gain_
private

Definition at line 299 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_ankle_roll_gain_
private

Definition at line 298 of file online_walking_module.h.

BalanceControlUsingPDController robotis_op::OnlineWalkingModule::balance_control_
private

Definition at line 242 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::balance_control_initialize_
private

Definition at line 186 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_hip_roll_gain_
private

Definition at line 296 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_knee_gain_
private

Definition at line 297 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_force_x_
private

Definition at line 302 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_force_y_
private

Definition at line 303 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_force_z_
private

Definition at line 304 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_torque_x_
private

Definition at line 305 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_torque_y_
private

Definition at line 306 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_l_foot_torque_z_
private

Definition at line 307 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_force_x_
private

Definition at line 309 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_force_y_
private

Definition at line 310 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_force_z_
private

Definition at line 311 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_torque_x_
private

Definition at line 312 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_torque_y_
private

Definition at line 313 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::balance_r_foot_torque_z_
private

Definition at line 314 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::balance_size_
private

Definition at line 240 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::balance_step_
private

Definition at line 240 of file online_walking_module.h.

robotis_framework::MinimumJerk* robotis_op::OnlineWalkingModule::balance_tra_
private

Definition at line 193 of file online_walking_module.h.

BALANCE_TYPE robotis_op::OnlineWalkingModule::balance_type_
private

Definition at line 237 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::body_offset_initialize_
private

Definition at line 187 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::body_offset_size_
private

Definition at line 255 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::body_offset_step_
private

Definition at line 255 of file online_walking_module.h.

robotis_framework::MinimumJerk* robotis_op::OnlineWalkingModule::body_offset_tra_
private

Definition at line 194 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::control_cycle_sec_
private

Definition at line 162 of file online_walking_module.h.

CONTROL_TYPE robotis_op::OnlineWalkingModule::control_type_
private

Definition at line 176 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::curr_joint_accel_
private

Definition at line 202 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::curr_joint_pos_
private

Definition at line 202 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::curr_joint_vel_
private

Definition at line 202 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_balance_gain_ratio_
private

Definition at line 247 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_body_accel_
private

Definition at line 214 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_body_offset_
private

Definition at line 251 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_body_pos_
private

Definition at line 214 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_body_Q_
private

Definition at line 214 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_body_vel_
private

Definition at line 214 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_accel_
private

Definition at line 203 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_feedback_
private

Definition at line 206 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_feedforward_
private

Definition at line 207 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_pos_
private

Definition at line 203 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_pos_to_robot_
private

Definition at line 208 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_joint_vel_
private

Definition at line 203 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_arm_accel_
private

Definition at line 210 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_arm_pos_
private

Definition at line 210 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_arm_Q_
private

Definition at line 210 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_arm_vel_
private

Definition at line 210 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_leg_accel_
private

Definition at line 212 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_leg_pos_
private

Definition at line 212 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_leg_Q_
private

Definition at line 212 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_l_leg_vel_
private

Definition at line 212 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_arm_accel_
private

Definition at line 211 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_arm_pos_
private

Definition at line 211 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_arm_Q_
private

Definition at line 211 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_arm_vel_
private

Definition at line 211 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_leg_accel_
private

Definition at line 213 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_leg_pos_
private

Definition at line 213 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_leg_Q_
private

Definition at line 213 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::des_r_leg_vel_
private

Definition at line 213 of file online_walking_module.h.

robotis_framework::MinimumJerkViaPoint* robotis_op::OnlineWalkingModule::feed_forward_tra_
private

Definition at line 195 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_distance_
private

Definition at line 258 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_angle_d_gain_
private

Definition at line 269 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_angle_p_gain_
private

Definition at line 268 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_gyro_d_gain_
private

Definition at line 264 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_gyro_p_gain_
private

Definition at line 263 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_torque_cut_off_frequency_
private

Definition at line 294 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_torque_d_gain_
private

Definition at line 281 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_pitch_torque_p_gain_
private

Definition at line 280 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_angle_d_gain_
private

Definition at line 267 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_angle_p_gain_
private

Definition at line 266 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_gyro_d_gain_
private

Definition at line 262 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_gyro_p_gain_
private

Definition at line 261 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_torque_cut_off_frequency_
private

Definition at line 293 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_torque_d_gain_
private

Definition at line 279 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_roll_torque_p_gain_
private

Definition at line 278 of file online_walking_module.h.

op3_online_walking_module_msgs::Step2DArray robotis_op::OnlineWalkingModule::foot_step_2d_
private

Definition at line 224 of file online_walking_module.h.

op3_online_walking_module_msgs::FootStepCommand robotis_op::OnlineWalkingModule::foot_step_command_
private

Definition at line 219 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_x_force_cut_off_frequency_
private

Definition at line 289 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_x_force_d_gain_
private

Definition at line 272 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_x_force_p_gain_
private

Definition at line 271 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_y_force_cut_off_frequency_
private

Definition at line 290 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_y_force_d_gain_
private

Definition at line 274 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_y_force_p_gain_
private

Definition at line 273 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_z_force_cut_off_frequency_
private

Definition at line 291 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_z_force_d_gain_
private

Definition at line 276 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::foot_z_force_p_gain_
private

Definition at line 275 of file online_walking_module.h.

Eigen::MatrixXd robotis_op::OnlineWalkingModule::g_to_l_leg_
private

Definition at line 316 of file online_walking_module.h.

Eigen::MatrixXd robotis_op::OnlineWalkingModule::g_to_r_leg_
private

Definition at line 316 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::goal_balance_gain_ratio_
private

Definition at line 248 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::goal_body_offset_
private

Definition at line 252 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::goal_initialize_
private

Definition at line 182 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::goal_joint_accel_
private

Definition at line 204 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::goal_joint_pos_
private

Definition at line 204 of file online_walking_module.h.

ros::Publisher robotis_op::OnlineWalkingModule::goal_joint_state_pub_
private

Definition at line 171 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::goal_joint_vel_
private

Definition at line 204 of file online_walking_module.h.

sensor_msgs::Imu robotis_op::OnlineWalkingModule::imu_data_msg_
private

Definition at line 319 of file online_walking_module.h.

boost::mutex robotis_op::OnlineWalkingModule::imu_data_mutex_lock_
private

Definition at line 165 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::is_balancing_
private

Definition at line 239 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::is_foot_step_2d_
private

Definition at line 225 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::is_moving_
private

Definition at line 178 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::is_offset_updating_
private

Definition at line 254 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::joint_control_initialize_
private

Definition at line 183 of file online_walking_module.h.

BalancePDController robotis_op::OnlineWalkingModule::joint_feedback_[12]
private

Definition at line 243 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::joint_feedforward_gain_
private

Definition at line 245 of file online_walking_module.h.

std::vector<std::string> robotis_op::OnlineWalkingModule::joint_name_
private

Definition at line 198 of file online_walking_module.h.

std::map<std::string, int> robotis_op::OnlineWalkingModule::joint_name_to_id_
private

Definition at line 160 of file online_walking_module.h.

robotis_framework::MinimumJerk* robotis_op::OnlineWalkingModule::joint_tra_
private

Definition at line 192 of file online_walking_module.h.

geometry_msgs::Wrench robotis_op::OnlineWalkingModule::l_foot_ft_data_msg_
private

Definition at line 320 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::mov_size_
private

Definition at line 179 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::mov_step_
private

Definition at line 179 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::mov_time_
private

Definition at line 180 of file online_walking_module.h.

std_msgs::String robotis_op::OnlineWalkingModule::movement_done_msg_
private

Definition at line 167 of file online_walking_module.h.

ros::Publisher robotis_op::OnlineWalkingModule::movement_done_pub_
private

Definition at line 170 of file online_walking_module.h.

size_t robotis_op::OnlineWalkingModule::number_of_joints_
private

Definition at line 197 of file online_walking_module.h.

OP3Kinematics* robotis_op::OnlineWalkingModule::op3_kdl_

Definition at line 131 of file online_walking_module.h.

ros::Publisher robotis_op::OnlineWalkingModule::pelvis_pose_pub_
private

Definition at line 172 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::pitch_angle_cut_off_frequency_
private

Definition at line 287 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::pitch_gyro_cut_off_frequency_
private

Definition at line 284 of file online_walking_module.h.

op3_online_walking_module_msgs::PreviewRequest robotis_op::OnlineWalkingModule::preview_request_
private

Definition at line 220 of file online_walking_module.h.

op3_online_walking_module_msgs::PreviewResponse robotis_op::OnlineWalkingModule::preview_response_
private

Definition at line 221 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::preview_response_K_
private

Definition at line 227 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::preview_response_K_col_
private

Definition at line 228 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::preview_response_K_row_
private

Definition at line 228 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::preview_response_P_
private

Definition at line 230 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::preview_response_P_col_
private

Definition at line 231 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::preview_response_P_row_
private

Definition at line 231 of file online_walking_module.h.

boost::mutex robotis_op::OnlineWalkingModule::queue_mutex_
private

Definition at line 164 of file online_walking_module.h.

boost::thread robotis_op::OnlineWalkingModule::queue_thread_
private

Definition at line 163 of file online_walking_module.h.

geometry_msgs::Wrench robotis_op::OnlineWalkingModule::r_foot_ft_data_msg_
private

Definition at line 321 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::roll_angle_cut_off_frequency_
private

Definition at line 286 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::roll_gyro_cut_off_frequency_
private

Definition at line 283 of file online_walking_module.h.

ros::Publisher robotis_op::OnlineWalkingModule::status_msg_pub_
private

Definition at line 169 of file online_walking_module.h.

double robotis_op::OnlineWalkingModule::total_mass_
private

Definition at line 323 of file online_walking_module.h.

WalkingControl* robotis_op::OnlineWalkingModule::walking_control_

Definition at line 129 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::walking_initialize_
private

Definition at line 185 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::walking_leg_
private

Definition at line 189 of file online_walking_module.h.

op3_online_walking_module_msgs::WalkingParam robotis_op::OnlineWalkingModule::walking_param_
private

Definition at line 222 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::walking_phase_
private

Definition at line 189 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::walking_size_
private

Definition at line 190 of file online_walking_module.h.

int robotis_op::OnlineWalkingModule::walking_step_
private

Definition at line 190 of file online_walking_module.h.

WholebodyControl* robotis_op::OnlineWalkingModule::wholebody_control_

Definition at line 128 of file online_walking_module.h.

geometry_msgs::Pose robotis_op::OnlineWalkingModule::wholebody_goal_msg_
private

Definition at line 234 of file online_walking_module.h.

bool robotis_op::OnlineWalkingModule::wholebody_initialize_
private

Definition at line 184 of file online_walking_module.h.

std::string robotis_op::OnlineWalkingModule::wholegbody_control_group_
private

Definition at line 199 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::x_lipm_
private

Definition at line 217 of file online_walking_module.h.

std::vector<double_t> robotis_op::OnlineWalkingModule::y_lipm_
private

Definition at line 217 of file online_walking_module.h.

The documentation for this class was generated from the following files:

op3_online_walking_module
Author(s): SCH
autogenerated on Mon Jun 10 2019 14:41:22